gps_datalink.h File Reference

GPS system based on datalink. More...

#include "std.h"
#include "generated/airframe.h"
#include "modules/gps/gps.h"

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Macros
#define	PRIMARY_GPS   GPS_DATALINK
#define	gps_datalink_periodic_check()   gps_periodic_check(&gps_datalink)

Functions
void	gps_datalink_init (void)
	GPS initialization. More...
void	gps_datalink_parse_EXTERNAL_POSE (uint8_t *buf)
	Parse the full EXTERNAL_POSE message and publish as GPS through ABI. More...
void	gps_datalink_parse_EXTERNAL_POSE_SMALL (uint8_t *buf)
	Parse the EXTERNAL_POSE_SMALL message and publish as GPS through ABI. More...
void	gps_datalink_parse_REMOTE_GPS_LOCAL (uint8_t *buf)

Variables
struct GpsState	gps_datalink

Detailed Description

GPS system based on datalink.

This GPS parses the datalink REMOTE_GPS packet and sets the GPS structure to the values received.

Definition in file gps_datalink.h.

Macro Definition Documentation

gps_datalink_periodic_check

#define gps_datalink_periodic_check

(

)

gps_periodic_check(&gps_datalink)

Definition at line 45 of file gps_datalink.h.

PRIMARY_GPS

#define PRIMARY_GPS   GPS_DATALINK

Definition at line 38 of file gps_datalink.h.

Function Documentation

gps_datalink_init()

void gps_datalink_init

(

void

)

GPS initialization.

Definition at line 51 of file gps_datalink.c.

References LlaCoor_i::alt, GpsState::cacc, GpsState::comp_id, GpsState::fix, gps_datalink, GPS_DATALINK_ID, GPS_FIX_NONE, LlaCoor_i::lat, LlaCoor_i::lon, ltp_def, ltp_def_from_lla_i(), GpsState::pacc, GpsState::pdop, and GpsState::sacc.

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gps_datalink_parse_EXTERNAL_POSE()

void gps_datalink_parse_EXTERNAL_POSE

(

uint8_t *

buf

)

Parse the full EXTERNAL_POSE message and publish as GPS through ABI.

Definition at line 123 of file gps_datalink.c.

References float_eulers_of_quat(), gps_datalink_publish(), heading, FloatEulers::psi, FloatQuat::qi, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, EnuCoor_f::x, EnuCoor_f::y, and EnuCoor_f::z.

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gps_datalink_parse_EXTERNAL_POSE_SMALL()

void gps_datalink_parse_EXTERNAL_POSE_SMALL

(

uint8_t *

buf

)

Parse the EXTERNAL_POSE_SMALL message and publish as GPS through ABI.

Definition at line 151 of file gps_datalink.c.

References EXTERNAL_POSE_SMALL_POS_RES, EXTERNAL_POSE_SMALL_SPEED_RES, gps_datalink_publish(), heading, EnuCoor_f::x, EnuCoor_i::x, EnuCoor_f::y, EnuCoor_i::y, EnuCoor_f::z, and EnuCoor_i::z.

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gps_datalink_parse_REMOTE_GPS_LOCAL()

void gps_datalink_parse_REMOTE_GPS_LOCAL

(

uint8_t *

buf

)

Definition at line 203 of file gps_datalink.c.

References course, gps_datalink_publish(), EnuCoor_f::x, EnuCoor_f::y, and EnuCoor_f::z.

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Variable Documentation

gps_datalink

struct GpsState gps_datalink

extern

Definition at line 1 of file gps_datalink.c.

Referenced by gps_datalink_init(), and gps_datalink_publish().